ORB_SLAM2 如何整合

在 MYNT® EYE 上运行 ORB_SLAM2 ,请依照这些步骤:

  1. 下载 MYNT-EYE-S-SDK 及安装。

  2. 按照一般步骤安装 ORB_SLAM2 。

  3. 在 MYNT® EYE 上运行例子。

安装依赖

sudo apt-get -y install libglew-dev cmake
cd ~
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
cmake --build .
sudo make install

ROS 下创建双目节点

  • 添加 Examples/ROS/ORB_SLAM2 路径到环境变量 ROS_PACKAGE_PATH 。打开 .bashrc 文件,在最后添加下面命令行。

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/catkin_ws/src/MYNT-EYE-ORB-SLAM2-Sample
  • 运行脚本 build_ros.sh

chmod +x build.sh
./build.sh
chmod +x build_ros.sh
./build_ros.sh

Stereo_ROS 例子

  • 运行 ORB_SLAM2 Stereo_ROS 例子

1.运行mynteye节点

cd [path of mynteye-s-sdk]
make ros
source ./wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper mynteye.launch

2.打开另一个命令行运行ORB_SLAM2

rosrun ORB_SLAM2 mynteye_s_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_s_stereo.yaml false /mynteye/left_rect/image_rect /mynteye/right_rect/image_rect